CN210210378U - Robot comprising horizontal moving part - Google Patents

Abstract

The utility model relates to the field of robots, in particular to a robot comprising a horizontal moving part, which comprises a horizontal moving part moving back and forth along the length direction of a second guide rail, wherein the horizontal moving part comprises a support plate, a pulley component fixed on the support plate and a horizontal driving component for driving the pulley component to roll on the second guide rail; the pulley assembly comprises a plurality of pulley subassemblies arranged along the length direction of the second guide rail, each pulley subassembly comprises two bearing wheels, the two bearing wheels roll on the first flange plates on two sides of the second guide rail respectively, and the first flange plates are inclined. The utility model has the advantages that: the utility model provides a first flange plate among the robot is the slope form, and the last bearing wheel of robot rolls on first flange plate, and the off tracking just can appear when receiving the oblique power only to the bearing wheel like this.

Description

Robot comprising horizontal moving part

Technical Field

The utility model belongs to the technical field of the robot and specifically relates to a robot including horizontal migration portion.

Background

In real life, for example to patrolling and examining of production line, to patrolling and examining relatively dangerous environment all need corresponding staff to go to waiting to detect the environment in, for example to patrolling and examining of production line, just so need a professional to walk about on whole production line and inspect, great waste the manpower. Corresponding to relatively dangerous or severe working environment, such as road condition inspection in mountainous areas in winter, etc., the inspection needs corresponding professional personnel. Such an operation is of low safety. Along the route to be inspected, how to realize the robot to replace manual inspection is an urgent technical problem to be solved, and because there may be a curve on the route to be inspected, how to freely turn the mobile robot at the curve is also needed to be solved. The robot can deviate on the track in the moving process, when the robot is corrected under the action of the correcting device, the robot can shake in the process, and how to reduce the shaking of the robot in the moving process is urgently needed to be solved.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects existing in the prior art, the utility model provides a robot comprising a horizontal moving part.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot comprising a horizontal moving part comprises a horizontal moving part which moves back and forth along the length direction of a second guide rail, wherein the horizontal moving part comprises a supporting plate, a pulley assembly fixed on the supporting plate, and a horizontal driving assembly for driving the pulley assembly to roll on the second guide rail; the pulley assembly comprises a plurality of pulley subassemblies arranged along the length direction of the second guide rail, each pulley subassembly comprises two bearing wheels, the two bearing wheels roll on the first flange plates on two sides of the second guide rail respectively, and the first flange plates are inclined.

Preferably, each pulley subassembly is a mirror image structure which is symmetrical about the vertical plane in the second guide rail, each pulley subassembly comprises a rotating plate, the rotating plate horizontally rotates on a supporting plate, and one side of the mirror image structure further comprises an anti-deviation wheel unit, a bearing wheel unit, a pulley fixing block for supporting the bearing wheel unit and the anti-deviation wheel unit, wherein the anti-deviation wheel unit rolls on the second flange plate of the second guide rail; the pulley fixing blocks on two sides of each pulley subassembly are fixed on two corresponding sides of the rotating plate; the bearing wheel unit is composed of a bearing rotating shaft for supporting the bearing wheel and the bearing wheel.

Optimized, prevent that the eccentric wheel unit includes on the second flange plate rolling prevent the eccentric wheel and support the eccentric wheel fixed block of preventing the eccentric wheel, the cavity has been seted up to the tip under the eccentric wheel fixed block of preventing, is provided with elastic construction in the cavity, the groove that the eccentric wheel fixed block of preventing passed is seted up to the thickness direction of pulley fixed block, the eccentric wheel fixed block of preventing passes the groove and at inslot round trip movement, elastic construction's one end is fixed on the eccentric wheel fixed block of preventing, and the other end supports on the pulley fixed block.

Optimized, the cavity of preventing the eccentric wheel fixed block is the rectangular form that the side switched on, and the length direction of cavity is the same with the direction that the eccentric wheel fixed block removed in the pulley fixed block, be provided with on the pulley fixed block and pass the cavity that switches on and fix the screw on the pulley fixed block, elastic construction includes third spring and separation blade, the one end of third spring is fixed in the upper end of cavity, and the other end is fixed on the separation blade, the screw supports the lower tip of separation blade.

Preferably, the horizontal driving assembly comprises a synchronous wheel, a transmission sub assembly and a horizontal motor, the synchronous wheel is meshed with a synchronous belt arranged on the corresponding side edge of the second guide rail, the driving end of the horizontal motor drives the synchronous wheel to rotate forwards and backwards through the transmission sub assembly, and the horizontal motor is horizontally arranged.

Optimized, the horizontal driving subassembly still includes first slider and first guide rail, the axis body of being connected between synchronizing wheel and the transmission subassembly passes through the bearing and is connected with first slider, horizontal motor fixes the below at first slider, still be provided with the second spring on the first guide rail, the second spring is the direction promotion to the hold-in range with the synchronizing wheel of first slider top at first end, makes synchronizing wheel and hold-in range meshing all the time.

Preferably, the other side of the first sliding block is further provided with a carbon brush which is in contact with the conductive belt on the second guide rail and a first supporting frame which fixes the carbon brush on the first sliding block.

Optimized, the horizontal migration portion still includes spacing subassembly, be provided with the spacing groove on the lower terminal surface of second guide rail, the spacing inslot at second guide rail length direction both ends is provided with spacing arch, spacing subassembly includes spacing gyro wheel, supports the spacing support subassembly of spacing gyro wheel, spacing support subassembly is including making spacing gyro wheel withstand the elastic component of spacing groove upper surface all the time, the below of spacing gyro wheel is provided with limit switch, and when spacing gyro wheel rolled to protruding below, spacing gyro wheel atress pushed down limit switch, limit switch is arranged in the horizontal migration portion stop motion or changes the direction of motion among the control robot.

Optimized, the backup pad all is provided with the curb plate perpendicularly in second guide rail length direction's both sides, and spacing mounting groove has all been seted up to both sides board and backup pad junction and the below that is located the spacing groove, spacing support subassembly is fixed in spacing mounting groove department.

Optimally, the section of the second guide rail in the direction perpendicular to the length direction is bilaterally symmetrical, the upper end part of the second guide rail is a fixed end, the second flange plate is inclined, the first flange plate is positioned below the second flange plate, two sides of the second guide rail are respectively provided with a conductive belt mounting surface and a synchronous belt mounting surface, and the conductive belt mounting surface and the synchronous belt mounting surface are positioned between the second flange plate and the fixed end; a notch is formed above the second flange plate, and the bottom of the notch is propped against the lower end face of the conductive belt and the lower end face of the synchronous belt.

The utility model has the advantages that:

(1) the utility model provides a robot in first flange plate be the slope form, and the bearing wheel on the robot rolls on first flange plate, only the bearing wheel just can the off tracking appear when receiving the obliquely power like this.

(2) The turning plate in each pulley subassembly can realize the smooth turning of the robot on the second guide rail.

(3) The arrangement of the elastic structure in the cavity of the anti-deviation wheel fixing block enables the anti-deviation wheel to be always in contact with the second flange plate.

(4) The horizontal motor is horizontally arranged, so that the height of the whole horizontal moving part can be reduced.

(5) The arrangement of the first sliding block and the first guide rail can enable the synchronous wheel to be meshed with the synchronous belt all the time.

(6) The setting of spacing subassembly can prevent that the robot from running out the second guide rail.

(7) The setting of notch can support the lower terminal surface of conductive band and hold-in range, prevents that conductive band and hold-in range from warping.

Drawings

Fig. 1 is a perspective view of the robot crane at its longest.

Fig. 2 is a front view of the robot with the crane and the detection part mounting plate removed.

Fig. 3 is a cross-sectional view of the second rail.

Fig. 4 is a perspective view of the mobile robot when the crane is retracted.

Fig. 5 is an enlarged view of a portion a in fig. 4.

Fig. 6 is a block diagram of a pulley subassembly.

Fig. 7 is a cross-sectional view of the pulley subassembly of fig. 6.

Fig. 8 is a partial configuration view of the inside of the case body being turned upside down.

Figure 9 is a block diagram of a first version of the vertical drive assembly.

Fig. 10 is a block diagram of a second version of the vertical drive assembly.

The notations in the figures have the following meanings:

101-pulley fixed block 1010-first long groove 1011-limiting installation groove

102-anti-deviation wheel fixing block 1021-third spring 1022-stop piece 1023-screw

103-anti-deflection wheel 104-bearing wheel 105-rotating plate 1051-plane bearing

106-motor transition wheel 107-synchronous connecting wheel 108-synchronous wheel 109-horizontal motor

1100-limit roller 1101-limit supporting rod 1102-limit base 1103-limit switch

121-carbon brush 122-first support frame

131-first guide rail 132-first slider 133-second spring

14-support plate 141-lifting guide rail 142-lifting slide block 143-lifting fixed block

144-first stopper 145-second stopper

201-crane 2010-second lifting sliding end 2011-second lifting fixing end

202-control circuit part

210-retraction shaft gear 211-retraction motor gear 212-retraction motor 213-retraction shaft

214-transition gear

221-pull rope guide shaft 222-guide shaft bracket

231-second support frame 232-encoder 233-encoder transition gear

234-encoder gear 235-pull rope retainer ring 236-fixing hole 237-pull rope hole

240-detecting part mounting plate 2401-second elongated groove

250-vertical driving motor 251-pull rope rotating shaft 252-pull rope baffle 253-scroll supporting frame

254-Worm 255-turbine

3-second guide rail 301-first flange plate 302-second flange plate 303-limiting groove

304-conductive band mounting surface 305-synchronous belt mounting surface 306-notch

307-fixed end

Detailed Description

As shown in fig. 1 to 10, a robot includes a second guide rail 3, a detection portion hung below the moving portion, and a moving portion driving the detection portion to move on the second guide rail 3. The moving part includes a housing, and a control circuit part 202 for controlling the detecting part to move up and down and move back and forth on the second guide rail 3 is provided in the housing.

Wherein the moving part comprises a horizontal moving part and a vertical moving part. The vertical movement portion and the detection portion that the horizontal migration portion drove the below move back and forth along the 3 length direction on the second guide rail that match, and the detection portion is fixed in the below that sets up the removal portion, realizes that the detection portion reciprocates on vertical height.

The components are described in detail below.

1. Second guide rail 3

As shown in fig. 3, the second guide rail 3 has a cross section perpendicular to the longitudinal direction that is symmetrical left and right, the upper end of the second guide rail 3 is a fixed end 307, and the lower end is provided with a limit groove 303. The two sides of the second guide rail 3 are provided with a first flange plate 301 and a second flange plate 302, and the first flange plate 301 and the second flange plate 302 are both inclined. Specifically, the first flange plate 301 and the second flange plate 302 form a wide angle shape, and the distance therebetween gradually increases from a direction close to the median vertical plane of the second rail to a direction away from the median vertical plane of the second rail. The second guide rail 3 is also provided with a conductive belt mounting surface 304 and a timing belt mounting surface 305 on both sides thereof, respectively. The conductive tape mounting face 304 and the timing belt mounting face 305 are located between the second flange plate 302 and the fixed end 307. A notch 306 is formed above the second flange plate 302, and the bottom of the notch 306 is against the lower end face of the conductive belt and the synchronous belt, so as to prevent the positions of the conductive belt and the synchronous belt from shifting.

1. Horizontal moving part

As shown in fig. 1 and 2-8, the horizontal moving part includes a housing, a pulley assembly fixed on the housing, a horizontal driving assembly, and a limiting assembly.

The above components are described in detail as follows:

1.1 Pulley component

As shown in fig. 6, the pulley assembly includes a plurality of pulley subassemblies arranged along the length direction of the second guide rail, and the plurality of pulley subassemblies are fixed on the upper panel of the housing, which serves as the support plate 14. Each pulley subassembly is a mirror image structure symmetrical about a vertical plane in the second guide rail 3, and one side of the pulley subassembly includes a load-bearing wheel 104 rolling on the first flange plate 301, an anti-deflection wheel 103 rolling on the second flange plate 302, and a pulley fixing block 101 supporting the load-bearing wheel 104 and the anti-deflection wheel 103. The deviation prevention wheel 103 and a deviation prevention wheel fixing block 102 supporting the deviation prevention wheel 103 form a deviation prevention wheel unit, and the deviation prevention wheel 103 is connected with the pulley fixing block 101 through the deviation prevention wheel fixing block 102. The bearing wheel 104 and a bearing rotating shaft supporting the bearing wheel 104 form a bearing wheel unit, one end of the bearing rotating shaft is vertically fixed on the pulley fixing block 101, and the bearing wheel 104 is fixed at the other end of the bearing rotating shaft through a bearing. The anti-deviation wheel 103 and the bearing wheel 104 form an acute angle and an obtuse angle with the horizontal plane respectively. The pulley fixing blocks 101 at both sides of the pulley sub-assembly are fixed at the corresponding both sides of the rotating plate 105, the middle part of the rotating plate 105 is fixed in the plane bearing 1051 on the supporting plate 14 through the rotating shaft, and the rotating plate 105 horizontally rotates with respect to the supporting plate 14, so that the pulley assembly can be adaptively rotated when the robot turns.

Specifically, as shown in fig. 7, the anti-deviation wheel fixing block 102 is provided with a cavity with a side edge communicated, a third spring 1021 is arranged in the cavity, and the anti-deviation wheel fixing block 102 penetrates through a groove in the thickness direction of the pulley fixing block 101 and moves back and forth on the pulley fixing block 101. One end of the third spring 1021 is fixed on the anti-deviation wheel fixing block 102, the other end is fixedly connected with the blocking piece 1022, the lower side of the blocking piece 1022 is provided with a screw 1023 which penetrates through the inner cavity of the anti-deviation wheel fixing block 102 and is fixed on the pulley fixing block 101, the inner cavity of the anti-deviation wheel fixing block 102 is long, and the length direction of the inner cavity is the same as the moving direction of the anti-deviation wheel fixing block 102 in the pulley fixing block 101. The third spring 1021 is always in a compressed state. When the second guide rail 3 bends, the anti-deflection wheel 103 on one side of the pulley assembly is extruded, and under the action of the third spring 1021, the anti-deflection wheel 103 slides downwards along the groove of the pulley fixing block 101 along with the anti-deflection wheel fixing block 102; the other side is under the action of the third spring 1021 in a compressed state, and the deflection preventing wheel 103 slides obliquely upward along the groove of the pulley fixing block 101 along with the deflection preventing wheel fixing block 102. Thereby ensuring that the anti-deviation wheels 103 on two sides of the second guide rail 3 are always in contact with the second guide rail when the robot turns.

Since the first flange plate 301 and the second flange plate 302 form a wide angle shape, when the load-bearing wheel 104 on one side is tilted inward, the load-bearing wheel 104 has a rectification function under the action of the third spring 1021. Preferably, the first and second flanges 301 and 302 are perpendicular to each other in this embodiment.

1.2 horizontal drive Assembly

As shown in fig. 1 and 2-8, the horizontal driving assembly includes a synchronous wheel 108 engaged with the synchronous belt, a synchronous connecting wheel 107 coaxially disposed with the synchronous wheel 108, a motor transition wheel 106 engaged with the synchronous connecting wheel 107, and a horizontal motor 109, wherein the horizontal motor 109 is connected with the motor transition wheel 106 to drive the synchronous connecting wheel to rotate, a shaft body of the synchronous wheel 108 connected with the synchronous connecting wheel 107 is connected with the first sliding block 132 through a bearing, and the horizontal motor 109 is fixed below the first sliding block 132 through a connecting plate passing through a first elongated slot 1010 on the pulley fixing block 101. The first slider 132 passes through the first guide rail 131 fixed to the pulley fixing block 101 in the thickness direction, and the first slider 132 slides back and forth on the first guide rail 131. The first guide rail 131 is provided with a second spring 133, one end of the second spring 133 is fixed on the first slider 132, and the synchronizing wheel above the first slider is always pushed towards the direction of the synchronous belt, so that the synchronizing wheel 108 is always engaged with the synchronous belt. The first slider 132 supports the carbon brush 121 through the first support bracket 122, and the carbon brush 121 is always in contact with the conductive tape. In this embodiment, the carbon brush 121 is a JBC-C type double-rod double-head integrator, and a first spring (not shown) is disposed on the carbon brush 121, and the first spring is always in a compressed state, so as to ensure that the carbon brush 121 is always in contact with the conductive strip.

1.3, limiting component

As shown in fig. 4-5, in order to prevent the robot from falling from two ends of the second guide rail 3, a limit groove 303 is provided on the lower end surface of the second guide rail 3, and a slope limit protrusion is provided in the limit groove 303 at two ends of the second guide rail 3, both the front and rear ends of the housing right below the limit groove 303 are provided with limit components matching with the grooves, when the limit component closest to the limit protrusion on the robot moves to the lower side of the limit protrusion, the limit protrusion changes the state of the limit switch 1103 in the control circuit part 202 in the robot housing, and the limit switch 1103 serves as a stop switch in the robot to control the robot to stop moving or change the moving direction.

Specifically, the casing is including setting up the equal vertically curb plate in second guide rail length direction's both sides of backup pad 14 is provided with the spacing mounting groove 1011 that sets up spacing subassembly on, and spacing subassembly includes spacing gyro wheel 1100, supports spacing bracing piece 1101 of spacing gyro wheel 1100, and the other end of spacing bracing piece 1101 passes through the articulated elements and connects on spacing base 1102, spacing base 1102 is fixed on the casing on spacing mounting groove 1011. A limit switch 1103 that controls the robot to stop horizontal movement is provided below the limit roller 1100. The hinged part of the limiting support rod 1101 and the limiting base 1102 is provided with a spring which enables the limiting roller 1100 to be always in upward contact with the second guide rail 3, when the robot moves to the end part of the second guide rail 3, the limiting protrusion in the limiting groove 303 presses the limiting roller 1100 downwards until the limiting switch 1103 changes the state.

2. Vertical moving part

As shown in fig. 1-5 and 8-9, the vertical moving part comprises a retracting assembly and a vertical driving assembly. The retraction assembly and the vertical driving assembly are described in detail below.

2.1.1, vertical receive and releases subassembly

As shown in fig. 1 to 5, the vertical retraction assembly includes a lifting frame 201, an upper end of the lifting frame 201 is disposed on an outer side surface of the casing, and a lower end of the lifting frame 201 is disposed on the detection portion mounting plate 240. In order to reduce the vertical height of the robot after it is completely retracted, the upper end of the crane 201 is disposed on the thickness surface of the support plate 14.

The vertical retraction assembly specifically comprises a lifting guide rail 141, a lifting slider 142 horizontally moving back and forth on the lifting guide rail 141, and a lifting fixed block 143. The crane 201 upper end portion includes two link ends, is first lift slip end and first lift stiff end respectively. The first lifting sliding end and the first lifting fixing end are respectively and correspondingly fixed on the lifting slide block 142 and the lifting fixing block 143. In order to prevent the lifting slider 142 from sliding off the lifting rail 141, a first stopper 144 and a second stopper 145 are provided at both ends of the lifting rail 141, respectively. When the lifting slider 142 moves back and forth on the lifting guide rail 141, the distance between the first lifting sliding end and the first lifting fixing end is adjustable, the height of the lifting frame 201 is increased when the distance between the first lifting sliding end and the first lifting fixing end is reduced, and conversely, the height of the lifting frame 201 is reduced when the distance between two end points is increased. Correspondingly, the lower end of the lifting frame 201 also includes a second lifting sliding end 2010 and a second lifting fixing end 2011, the second lifting sliding end 2010 moves back and forth in a second long groove 2410 formed on the detection part mounting plate 240, and the second lifting fixing end 2011 is fixed on the upper surface of the detection part mounting plate 240. An extension line of the second long groove 2410 coincides with a fixed point of the second elevation fixed end 2011 on the detection part mounting plate 240, and the elevation fixed block 143 is located on an extension line of the elevation guide rail 141.

The crane 201 is a folding telescopic frame, wherein the wire that is used for electric conduction and signal transmission of mobile robot is fixed on the crane 201, and when the crane was the stretching state, the wire was the state of relaxing to guarantee that the wire is not in the tensioning state when the stretching of crane.

2.2.1 first version of vertical drive Assembly

As shown in fig. 9, in order to control the height of the crane 201, a vertical driving assembly is further provided in the housing, and the vertical driving assembly is mounted on a lower panel in the housing. Specifically, the vertical driving assembly comprises a retraction motor 212, a retraction shaft 213, a retraction shaft gear 210, a retraction motor gear 211, a transition gear 214 and a plurality of second support frames 231. The retraction shaft gear 210, the retraction motor gear 211 and the transition gear 214 form a transmission gear set. In this embodiment, the retraction motor 212 is a dc motor. The number of the second support frames 231 is 3, which are respectively a left support frame, a middle support frame and a right support frame, and the left support frame and the right support frame are respectively arranged at two end portions of the folding and unfolding shaft 213. The three second support frames 231 are all fixed on the inner side surface of the housing. The retracting motor 212 is fixed on the right support frame, the execution end of the retracting motor passes through the right support frame to be coaxially connected with the retracting motor gear 211, and the right support frame is connected with the retracting shaft 213 through a bearing. The right end of the retracting shaft 213 penetrates through the right support frame to be coaxially connected with the retracting shaft gear 210, the transition gear 214 and the retracting motor gear 211 are in meshing transmission, and the transition gear 214 can be arranged to pull the retracting motor 212 and the retracting shaft 213 apart. The take-up and pay-off shaft 213 is provided with a plurality of groups of pull rope retainer rings 235, each group of pull rope retainer rings 235 comprises 2 baffle plates fixed on the take-up and pay-off shaft 213, and the two baffle plates are used for forming a rope winding area of a corresponding pull rope. In this embodiment the pull-cord retainer rings 235 are in 2 groups. The retraction shaft 213 between the two baffles of each set of rope retainer rings 235 is provided with a fixing hole 236 for fixing one end of the rope.

A rope hole 237 through which the rope passes is further provided below the housing, and a rope guide structure is further provided at a position opposite to each rope retainer 235 in the housing in order to guide the rope on the rope retainer 235 to the rope hole 237. The rope guide structure includes a rope guide shaft 221 and a guide shaft bracket 222, and the rope guide shaft 221 rotates on the guide shaft bracket 222. The projection of the 2 drawstring holes 237 on the sensing part mounting plate 240 is symmetrical about the center line of the sensing part mounting plate 240, thus preventing the sensing part mounting plate 240 from being inclined.

In this embodiment, one end of the rope is fixed on the winding and unwinding shaft 213, and the other end is fixed on the detection part mounting plate 240, and when the winding and unwinding motor 212 drives the rope to wind on the winding and unwinding shaft 213, the detection part mounting plate 240 moves upward, the lifting frame 201 contracts, the lifting slider 142 moves along the lifting guide rail 141 to the outside of the housing, and the distance from the lifting fixing block 143 increases.

As shown in fig. 9, the vertically moving part further includes an encoder block in the housing so that the controller can obtain the winding of the rope around the winding/unwinding shaft 213. The encoder module includes encoder 232, encoder transition gear 233, encoder gear 234, and encoder transition gear 233 is coaxial to be fixed on receiving and releasing axle 213, and encoder gear 234 and encoder transition gear 233 meshing, encoder 232 pass the middle part support frame and are connected with encoder gear 234, and the middle part support frame is fixed on the casing medial surface.

2.2.2 second version of the vertical moving part

As shown in fig. 10, in order to control the horizontal height of the detection part mounting plate 240, a vertical driving assembly is further disposed on the lower panel inside the housing, and specifically, the vertical driving assembly includes a vertical driving motor 250, a pull rope rotating shaft 251, a pull rope baffle 252, a reel supporting bracket 253, a worm 254, and a worm wheel 255. The two ends of the pull rope rotating shaft 251 are erected in the casing through a reel supporting frame 253. The worm gear 255 is coaxially disposed on the pull rope rotating shaft 251, and the pull rope rotating shaft 251 rotates with the rotation of the worm gear 255. The driving end of the vertical driving motor 250 is connected with a worm 254, and the worm 254 and a worm wheel 255 form a worm-and-gear structure. The vertical driving motor 250 is supported by a support frame (not shown), and the other end of the worm 254 passes through the housing and is connected with the housing through a bearing, so as to ensure the balance of the worm 254 during rotation. The two sides of the pull rope rotating shaft 251, which are located on the turbine 255, are also provided with two pull rope baffles 252, the middle of the two pull rope baffles 252 on the same side is a rope winding area of the pull rope, a pull-up reel 251 in the area is provided with a through hole for fixing one end of the pull rope and is located below the pull rope, the shell is also provided with a pull rope hole 237 through which the pull rope passes, and the other end of the pull rope passes through the pull rope hole 237 and is fixed on the detection mounting plate 240. As the turbine 255 drives the pull rope rotating shaft 251 to rotate forward and backward, the pull rope rotates forward and backward, and the corresponding detection portion mounting plate 240 moves up and down. In order to ensure the worm wheel and the worm are stressed in a balanced manner, the distance from the through holes for fixing the pull rope on the two sides to the central plane when the worm wheel 255 rotates is equal.

In this embodiment, the vertical driving motor 250 is a stepping motor, so that the step distance can be controlled with a pulse, and thus an encoder module is not required.

Wherein the horizontal moving part and the vertical moving part can be used alone or in combination with other existing structures. Or a combination of both may be used.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, and all modifications, equivalents, improvements and the like that are made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A robot comprising a horizontal moving part, characterized by comprising a horizontal moving part moving back and forth along the length direction of a second guide rail (3), wherein the horizontal moving part comprises a support plate (14), a pulley assembly fixed on the support plate (14), and a horizontal driving assembly driving the pulley assembly to roll on the second guide rail (3); the pulley assembly comprises a plurality of pulley subassemblies arranged along the length direction of the second guide rail (3), each pulley subassembly comprises two bearing wheels (104), the two bearing wheels (104) respectively roll on the first flange plates (301) on two sides of the second guide rail (3), and the first flange plates (301) are inclined.

2. A robot including a horizontally moving part according to claim 1, wherein each pulley subassembly is a mirror image structure symmetrical with respect to a vertical plane in the second guide rail (3), each pulley subassembly includes a rotation plate (105), the rotation plate (105) horizontally rotates on a support plate (14), one side of the mirror image structure further includes an anti-deviation wheel unit rolling on a second flange plate (302) of the second guide rail (3), a load-bearing wheel unit, a pulley fixing block (101) supporting the load-bearing wheel unit and the anti-deviation wheel unit; pulley fixing blocks (101) on two sides of each pulley subassembly are fixed on two corresponding sides of a rotating plate (105); the bearing wheel unit consists of a bearing rotating shaft for supporting the bearing wheel (104) and the bearing wheel (104).

3. The robot comprising the horizontal moving part of claim 2, wherein the deflection preventing wheel unit comprises a deflection preventing wheel (103) rolling on the second flange plate (302) and a deflection preventing wheel fixing block (102) supporting the deflection preventing wheel (103), a cavity is formed in the lower end of the deflection preventing wheel fixing block (102), an elastic structure is arranged in the cavity, a groove through which the deflection preventing wheel fixing block (102) passes is formed in the thickness direction of the pulley fixing block (101), the deflection preventing wheel fixing block (102) passes through the groove and moves back and forth in the groove, one end of the elastic structure is fixed on the deflection preventing wheel fixing block (102), and the other end of the elastic structure abuts against the pulley fixing block (101).

4. The robot comprising the horizontal moving part of claim 3, wherein the cavity of the anti-deviation wheel fixing block (102) is a long strip with a side opening, the length direction of the cavity is the same as the moving direction of the anti-deviation wheel fixing block (102) in the pulley fixing block (101), the pulley fixing block (101) is provided with a screw (1023) which passes through the opening cavity and is fixed on the pulley fixing block (101), the elastic structure comprises a third spring (1021) and a blocking piece (1022), one end of the third spring (1021) is fixed at the upper end part of the cavity, the other end of the third spring is fixed on the blocking piece (1022), and the screw (1023) abuts against the lower end part of the blocking piece (1022).

5. A robot comprising a horizontal moving part according to claim 1, wherein the horizontal driving assembly comprises a synchronizing wheel (108), a transmission sub-assembly, and a horizontal motor (109), the synchronizing wheel (108) is engaged with a timing belt mounted on a corresponding side of the second guide rail (3), a driving end of the horizontal motor (109) drives the synchronizing wheel (108) to rotate forward and backward through the transmission sub-assembly, and the horizontal motor (109) is horizontally arranged.

6. The robot comprising the horizontal moving part of claim 5, wherein the horizontal driving assembly further comprises a first sliding block (132) and a first guide rail (131), the shaft body connected between the synchronizing wheel (108) and the transmission sub-assembly is connected with the first sliding block (132) through a bearing, the horizontal motor (109) is fixed below the first sliding block (132), the first guide rail (131) is further provided with a second spring (133), and the second spring (133) always pushes the synchronizing wheel (108) above the first sliding block (132) to the direction of the synchronous belt, so that the synchronizing wheel (108) and the synchronous belt are always meshed.

7. A robot comprising a horizontally moving part according to claim 6, characterized in that the other side of the first slider (132) is further provided with a carbon brush (121) contacting the conductive strip on the second guide rail (3), a first support bracket (122) fixing the carbon brush (121) to the first slider (132).

8. A robot including a horizontally moving part according to claim 1, the horizontal moving part also comprises a limiting component, a limiting groove (303) is arranged on the lower end surface of the second guide rail (3), limiting bulges are arranged in the limiting groove (303) at the two ends of the second guide rail (3) in the length direction, the limiting component comprises a limiting roller (1100) and a limiting support subassembly supporting the limiting roller (1100), the limiting support subassembly comprises an elastic piece which enables a limiting roller (1100) to always prop against the upper surface of the limiting groove (303), a limiting switch (1103) is arranged below the limiting roller (1100), when the limit roller (1100) rolls to the lower part of the bulge, the limit roller (1100) is stressed to press the limit switch (1103) downwards, the limit switch (1103) is used for controlling the horizontal moving part in the robot to stop moving or change the moving direction.

9. The robot comprising the horizontal moving part as claimed in claim 8, wherein the supporting plate (14) is vertically provided with side plates at both sides of the second guide rail (3) in the length direction, a limiting installation groove (1011) is formed at the joint of the two side plates and the supporting plate (14) and below the limiting groove (303), and the limiting supporting subassembly is fixed at the limiting installation groove (1011).

10. The robot including the horizontal movement part as claimed in claim 4, wherein the second guide rail (3) has a cross section perpendicular to the length direction which is symmetrical left and right, the upper end of the second guide rail (3) is a fixed end (307), the second flange plate (302) is inclined, the first flange plate (301) is located below the second flange plate (302), the two sides of the second guide rail (3) are respectively provided with a conductive belt mounting surface (304) and a synchronous belt mounting surface (305), and the conductive belt mounting surface (304) and the synchronous belt mounting surface (305) are located between the second flange plate (302) and the fixed end (307); a notch (306) is also formed above the second flange plate (302), and the bottom of the notch (306) is pressed against the lower end face of the conductive belt and the synchronous belt.

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